refactor(autoware_obstacle_stop_planner): prefix package and namespac…

…e with autoware

Signed-off-by: Esteve Fernandez <[email protected]>

.github/CODEOWNERS

@@ -152,6 +152,7 @@ planning/autoware_freespace_planning_algorithms/** [email protected] taka
 planning/autoware_mission_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_objects_of_interest_marker_interface/** [email protected] [email protected] [email protected]
 planning/autoware_obstacle_cruise_planner/** [email protected] [email protected] [email protected] [email protected]
+planning/autoware_obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_path_optimizer/** [email protected] [email protected] [email protected]
 planning/autoware_path_smoother/** [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
@@ -196,7 +197,6 @@ planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limi
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** [email protected]
-planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/sampling_based_planner/autoware_bezier_sampler/** [email protected]
 planning/sampling_based_planner/autoware_frenet_planner/** [email protected]
 planning/sampling_based_planner/autoware_path_sampler/** [email protected]

launch/tier4_planning_launch/package.xml

@@ -65,6 +65,7 @@
   <exec_depend>autoware_freespace_planner</exec_depend>
   <exec_depend>autoware_mission_planner</exec_depend>
   <exec_depend>autoware_obstacle_cruise_planner</exec_depend>
+  <exec_depend>autoware_obstacle_stop_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_planning_evaluator</exec_depend>
   <exec_depend>autoware_planning_topic_converter</exec_depend>
@@ -74,7 +75,6 @@
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>glog_component</exec_depend>
-  <exec_depend>obstacle_stop_planner</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

planning/.pages

@@ -48,7 +48,7 @@ nav:
     - 'Obstacle Cruise Planner':
       - 'About Obstacle Cruise': planning/autoware_obstacle_cruise_planner
       - 'How to Debug': planning/autoware_obstacle_cruise_planner/docs/debug
-    - 'Obstacle Stop Planner': planning/obstacle_stop_planner
+    - 'Obstacle Stop Planner': planning/autoware_obstacle_stop_planner
     - 'Path Smoother':
       - 'About Path Smoother': planning/autoware_path_smoother
       - 'Elastic Band': planning/autoware_path_smoother/docs/eb

planning/obstacle_stop_planner/CMakeLists.txt → planning/autoware_obstacle_stop_planner/CMakeLists.txt

@@ -1,32 +1,32 @@
 cmake_minimum_required(VERSION 3.14)
-project(obstacle_stop_planner)
+project(autoware_obstacle_stop_planner)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
 
-ament_auto_add_library(obstacle_stop_planner SHARED
-  src/debug_marker.cpp
-  src/node.cpp
-  src/planner_utils.cpp
-  src/adaptive_cruise_control.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  DIRECTORY
+  src
 )
 
-target_include_directories(obstacle_stop_planner
+target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
     ${PCL_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIR}
+  INTERFACE
+    src
 )
 
-target_link_libraries(obstacle_stop_planner
+target_link_libraries(${PROJECT_NAME}
     ${PCL_LIBRARIES}
 )
 
-rclcpp_components_register_node(obstacle_stop_planner
+rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "motion_planning::ObstacleStopPlannerNode"
-  EXECUTABLE obstacle_stop_planner_node
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)

planning/obstacle_stop_planner/package.xml → planning/autoware_obstacle_stop_planner/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>obstacle_stop_planner</name>
+  <name>autoware_obstacle_stop_planner</name>
   <version>0.1.0</version>
-  <description>The obstacle_stop_planner package</description>
+  <description>The autoware_obstacle_stop_planner package</description>
 
   <maintainer email="[email protected]">Satoshi Ota</maintainer>
   <maintainer email="[email protected]">Taiki Tanaka</maintainer>

planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp → planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/adaptive_cruise_control.hpp"
+#include "adaptive_cruise_control.hpp"
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 
@@ -122,7 +122,7 @@ constexpr double sign(const double value)
 }
 }  // namespace
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 AdaptiveCruiseController::AdaptiveCruiseController(
   rclcpp::Node * node, const double vehicle_width, const double vehicle_length,
@@ -786,4 +786,4 @@ double AdaptiveCruiseController::lowpass_filter(
   return gain * prev_value + (1.0 - gain) * current_value;
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning

planning/obstacle_stop_planner/include/obstacle_stop_planner/adaptive_cruise_control.hpp → planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__ADAPTIVE_CRUISE_CONTROL_HPP_
-#define OBSTACLE_STOP_PLANNER__ADAPTIVE_CRUISE_CONTROL_HPP_
+#ifndef ADAPTIVE_CRUISE_CONTROL_HPP_
+#define ADAPTIVE_CRUISE_CONTROL_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -29,7 +29,7 @@
 #include <optional>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
@@ -232,6 +232,6 @@ class AdaptiveCruiseController
   static constexpr unsigned int num_debug_values_ = 10;
 };
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__ADAPTIVE_CRUISE_CONTROL_HPP_
+#endif  // ADAPTIVE_CRUISE_CONTROL_HPP_

planning/obstacle_stop_planner/src/debug_marker.cpp → planning/autoware_obstacle_stop_planner/src/debug_marker.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/debug_marker.hpp"
+#include "debug_marker.hpp"
 
 #include <autoware/motion_utils/marker/marker_helper.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
@@ -38,7 +38,7 @@ using autoware::universe_utils::createMarkerColor;
 using autoware::universe_utils::createMarkerScale;
 using autoware::universe_utils::createPoint;
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode(
   rclcpp::Node * node, const double base_link2front)
@@ -542,4 +542,4 @@ VelocityFactorArray ObstacleStopPlannerDebugNode::makeVelocityFactorArray()
   return velocity_factor_array;
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning

planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp → planning/autoware_obstacle_stop_planner/src/debug_marker.hpp

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_STOP_PLANNER__DEBUG_MARKER_HPP_
-#define OBSTACLE_STOP_PLANNER__DEBUG_MARKER_HPP_
+#ifndef DEBUG_MARKER_HPP_
+#define DEBUG_MARKER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -34,7 +34,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 using geometry_msgs::msg::Point;
@@ -154,6 +154,6 @@ class ObstacleStopPlannerDebugNode
   DebugValues debug_values_;
 };
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__DEBUG_MARKER_HPP_
+#endif  // DEBUG_MARKER_HPP_

planning/obstacle_stop_planner/src/node.cpp → planning/autoware_obstacle_stop_planner/src/node.cpp

@@ -20,8 +20,8 @@
 #include <vector>
 
 #define EIGEN_MPL2_ONLY
-#include "obstacle_stop_planner/node.hpp"
-#include "obstacle_stop_planner/planner_utils.hpp"
+#include "node.hpp"
+#include "planner_utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -38,7 +38,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 using autoware::motion_utils::calcLongitudinalOffsetPose;
 using autoware::motion_utils::calcLongitudinalOffsetToSegment;
@@ -1601,7 +1601,7 @@ void ObstacleStopPlannerNode::publishDebugData(
   debug_ptr_->publish();
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(motion_planning::ObstacleStopPlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::motion_planning::ObstacleStopPlannerNode)

planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp → planning/autoware_obstacle_stop_planner/src/node.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__NODE_HPP_
-#define OBSTACLE_STOP_PLANNER__NODE_HPP_
+#ifndef NODE_HPP_
+#define NODE_HPP_
 
+#include "adaptive_cruise_control.hpp"
 #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
-#include "obstacle_stop_planner/adaptive_cruise_control.hpp"
-#include "obstacle_stop_planner/debug_marker.hpp"
-#include "obstacle_stop_planner/planner_data.hpp"
+#include "debug_marker.hpp"
+#include "planner_data.hpp"
 
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
@@ -62,7 +62,7 @@
 #include <utility>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 namespace bg = boost::geometry;
@@ -319,6 +319,6 @@ class ObstacleStopPlannerNode : public rclcpp::Node
 
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__NODE_HPP_
+#endif  // NODE_HPP_

planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_data.hpp → planning/autoware_obstacle_stop_planner/src/planner_data.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__PLANNER_DATA_HPP_
-#define OBSTACLE_STOP_PLANNER__PLANNER_DATA_HPP_
+#ifndef PLANNER_DATA_HPP_
+#define PLANNER_DATA_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -27,7 +27,7 @@
 
 #include <map>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 using diagnostic_msgs::msg::DiagnosticStatus;
@@ -282,6 +282,6 @@ struct PlannerData
   bool enable_adaptive_cruise{false};
 };
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__PLANNER_DATA_HPP_
+#endif  // PLANNER_DATA_HPP_

planning/obstacle_stop_planner/src/planner_utils.cpp → planning/autoware_obstacle_stop_planner/src/planner_utils.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/planner_utils.hpp"
+#include "planner_utils.hpp"
 
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/conversion.hpp>
@@ -29,7 +29,7 @@
 
 #include <pcl_conversions/pcl_conversions.h>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 using autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints;
@@ -720,4 +720,4 @@ double calcObstacleMaxLength(const autoware_perception_msgs::msg::Shape & shape)
   throw std::logic_error("The shape type is not supported in obstacle_cruise_planner.");
 }
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning

planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_utils.hpp → planning/autoware_obstacle_stop_planner/src/planner_utils.hpp

@@ -13,10 +13,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_STOP_PLANNER__PLANNER_UTILS_HPP_
-#define OBSTACLE_STOP_PLANNER__PLANNER_UTILS_HPP_
+#ifndef PLANNER_UTILS_HPP_
+#define PLANNER_UTILS_HPP_
 
-#include "obstacle_stop_planner/planner_data.hpp"
+#include "planner_data.hpp"
 
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
@@ -33,7 +33,7 @@
 #include <utility>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 
 namespace bg = boost::geometry;
@@ -149,6 +149,6 @@ double calcObstacleMaxLength(const autoware_perception_msgs::msg::Shape & shape)
 
 rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr);
 
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_STOP_PLANNER__PLANNER_UTILS_HPP_
+#endif  // PLANNER_UTILS_HPP_

planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp → planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_stop_planner/node.hpp"
+#include "node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
@@ -22,8 +22,8 @@
 
 #include <vector>
 
+using autoware::motion_planning::ObstacleStopPlannerNode;
 using autoware::planning_test_manager::PlanningInterfaceTestManager;
-using motion_planning::ObstacleStopPlannerNode;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -41,7 +41,7 @@ std::shared_ptr<ObstacleStopPlannerNode> generateNode()
   const auto autoware_test_utils_dir =
     ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto obstacle_stop_planner_dir =
-    ament_index_cpp::get_package_share_directory("obstacle_stop_planner");
+    ament_index_cpp::get_package_share_directory("autoware_obstacle_stop_planner");
 
   node_options.append_parameter_override("enable_slow_down", false);
 
@@ -53,7 +53,7 @@ std::shared_ptr<ObstacleStopPlannerNode> generateNode()
      obstacle_stop_planner_dir + "/config/adaptive_cruise_control.param.yaml", "--params-file",
      obstacle_stop_planner_dir + "/config/obstacle_stop_planner.param.yaml"});
 
-  return std::make_shared<motion_planning::ObstacleStopPlannerNode>(node_options);
+  return std::make_shared<ObstacleStopPlannerNode>(node_options);
 }
 
 void publishMandatoryTopics(